Virtual reality sensory construct

ABSTRACT

A tactile device for correcting biomechanical abnormalities using physical virtual reality simulations includes an outer hollow sphere, a pliable inner hollow sphere, a plurality of actuators, and a framework. The plurality of actuators physically couple the outer hollow sphere to the pliable inner hollow sphere, and are configured to reshape the pliable inner hollow sphere as the outer hollow sphere and the pliable inner hollow sphere rotate. The framework includes a plurality of powered rollers which support the outer hollow sphere and control a rotational speed and direction of the outer and inner spheres. A set of pressure sensors detect pressure applied by a user against the pliable inner hollow sphere as the user moves within. One or more processors determine a biomechanical abnormality in the user based on pressure readings from the pressure sensors. A sphere controller then modifies a physical configuration of the pliable inner hollow sphere.

BACKGROUND

The present disclosure relates to the field of computer systems, andspecifically to computer systems that support virtual realityinterfaces. More specifically, the present disclosure relates toaugmenting visual virtual reality displays with tactile virtual realityoutputs.

Virtual reality (VR) is an area of computer technology that creates asimulation of a physical world using immersive multimedia. Thisimmersive multimedia provides outputs that are detected by a user'svision, hearing, and other senses, in order to give the user theillusion of experiencing a real physical world, rather than simplyseeing and/or hearing a representation of the physical world.

While VR headsets provide visual immersion for gaming and otherfull-immersion experiences, current VR systems do not effectivelysupport tactile sensations that involve the entire body of the user.That is, while a user can wear gloves and bodysuits that simulatetouching an outside environment, such gloves/bodysuits provide verylimited tactile sensations, due to the limited range of movement oftactile emulators (e.g., vibrating components, contracting components,etc.) found in such gloves/bodysuits. That is, while suchgloves/bodysuits can emulate the feeling of a mild wave's motion, theuser is not actually pushed around by the glove/bodysuit. Thus, the usernever achieves a true simulation of movement/motion.

SUMMARY

In an embodiment of the present invention, a tactile device forcorrecting biomechanical abnormalities using physical virtual realitysimulations includes an outer hollow sphere, a pliable inner hollowsphere, a plurality of actuators and a framework. The plurality ofactuators physically couple the outer hollow sphere to the pliable innerhollow sphere and are configured to dynamically and physically reshapethe pliable inner hollow sphere as the outer hollow sphere and thepliable inner hollow sphere rotate. The framework comprises a pluralityof powered rollers which support the outer hollow sphere and control arotational speed and direction of the outer hollow sphere and thepliable inner hollow sphere. A set of pressure sensors detect pressureapplied by a user against the pliable inner hollow sphere as the usermoves within the pliable inner hollow sphere as the outer hollow sphereand the pliable inner hollow sphere rotate. One or more processorsdetermine a biomechanical abnormality in the user based on pressurereadings from the pressure sensors as the user responds to movement ofthe pliable inner hollow sphere as the outer hollow sphere and thepliable inner hollow sphere rotate. A sphere controller then modifies aphysical configuration of the pliable inner hollow sphere in order totreat the biomechanical abnormality in the user.

In an embodiment of the present invention, a tactile device forcorrecting biomechanical abnormalities using physical virtual realitysimulations comprises an outer hollow sphere, a pliable inner hollowsphere, a plurality of actuators, and a framework. The plurality ofactuators physically couple the outer hollow sphere to the pliable innerhollow sphere and are configured to dynamically and physically reshapethe pliable inner hollow sphere as the outer hollow sphere and thepliable inner hollow sphere rotate. The framework comprises a pluralityof powered rollers which support the outer hollow sphere and control arotational speed and direction of the outer hollow sphere and thepliable inner hollow sphere. A camera captures visual images of the useras the user moves within the pliable inner hollow sphere as the outerhollow sphere and the pliable inner hollow sphere rotate. One or moreprocessors determine a biomechanical abnormality in the user based onimages from the camera as the user responds to the movement of thepliable inner hollow sphere as the outer hollow sphere and the pliableinner hollow sphere rotate. A sphere controller then modifies a physicalconfiguration of the pliable inner hollow sphere in order to treat thebiomechanical abnormality in the user.

In an embodiment of the present invention, a computer-implemented methodcontrols a tactile device for correcting biomechanical abnormalitiesusing physical virtual reality simulations. One or more processorstransmit instructions to a plurality of powered rollers which support anouter hollow sphere that is physically coupled to a pliable inner hollowsphere by a plurality of actuators, where the pliable inner hollowsphere is occupied by a user, and where the instructions to theplurality of powered rollers control a rotational speed and direction ofthe outer hollow sphere and the pliable inner hollow sphere. Theprocessor(s) transmit instructions to the plurality of actuators, wherethe instructions to the plurality of actuators cause the plurality ofactuators to dynamically and physically reshape the pliable inner hollowsphere as the pliable inner hollow sphere rotates. From a camera, visualimages are received of the user as the user moves within the pliableinner hollow sphere as the outer hollow sphere and the pliable innerhollow sphere rotate. From a set of pressure sensors, sensor readingsare received that detect pressure applied by the user against thepliable inner hollow sphere as the user moves within the pliable innerhollow sphere as the outer hollow sphere and the pliable inner hollowsphere rotate. The processor(s) determine a biomechanical abnormality inthe user based on images from the camera and pressure readings from thepressure sensors as the user responds to movement of the pliable innerhollow sphere as the outer hollow sphere and the pliable inner hollowsphere rotate. A sphere controller then modifies a physicalconfiguration of the pliable inner hollow sphere in order to treat thebiomechanical abnormality in the user.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 depicts an exemplary system and network in which the presentdisclosure may be implemented;

FIG. 2 illustrates a cross-sectional side view of a novel virtualreality (VR) sphere in accordance with one or more embodiments of thepresent invention, depicting the ability of the VR sphere to rotatealong a first axis;

FIG. 3 depicts a cross-sectional top view of the VR sphere shown in FIG.2 in accordance with one or more embodiments of the present invention,illustrating an ability to change a yaw along a second axis;

FIG. 4 illustrates a cross-sectional side view of the VR sphere shown inFIG. 2 depicting a user inside the VR sphere, and depicting actuatorsselectively changing a shape of an interior surface of the VR sphere inorder to simulate irregular surfaces found in a physical world beingsimulated by the VR system;

FIG. 5 is a high-level flow-chart of one or more steps performed by oneor more processors and/or other hardware devices to modify a physicalshape of the interior of the VR sphere shown in FIG. 4 based on userresponses to earlier modifications to the physical shape of the interiorof the VR sphere;

FIG. 6 depicts a cloud computing environment according to an embodimentof the present invention; and

FIG. 7 depicts abstraction model layers of a cloud computer environmentaccording to an embodiment of the present invention.

DETAILED DESCRIPTION

The present invention may be a system, a method, and/or a computerprogram product. The computer program product may include a computerreadable storage medium (or media) having computer readable programinstructions thereon for causing a processor to carry out aspects of thepresent invention.

The computer readable storage medium can be a tangible device that canretain and store instructions for use by an instruction executiondevice. The computer readable storage medium may be, for example, but isnot limited to, an electronic storage device, a magnetic storage device,an optical storage device, an electromagnetic storage device, asemiconductor storage device, or any suitable combination of theforegoing. A non-exhaustive list of more specific examples of thecomputer readable storage medium includes the following: a portablecomputer diskette, a hard disk, a random access memory (RAM), aread-only memory (ROM), an erasable programmable read-only memory (EPROMor Flash memory), a static random access memory (SRAM), a portablecompact disc read-only memory (CD-ROM), a digital versatile disk (DVD),a memory stick, a floppy disk, a mechanically encoded device such aspunch-cards or raised structures in a groove having instructionsrecorded thereon, and any suitable combination of the foregoing. Acomputer readable storage medium, as used herein, is not to be construedas being transitory signals per se, such as radio waves or other freelypropagating electromagnetic waves, electromagnetic waves propagatingthrough a waveguide or other transmission media (e.g., light pulsespassing through a fiber-optic cable), or electrical signals transmittedthrough a wire.

Computer readable program instructions described herein can bedownloaded to respective computing/processing devices from a computerreadable storage medium or to an external computer or external storagedevice via a network, for example, the Internet, a local area network, awide area network and/or a wireless network. The network may comprisecopper transmission cables, optical transmission fibers, wirelesstransmission, routers, firewalls, switches, gateway computers and/oredge servers. A network adapter card or network interface in eachcomputing/processing device receives computer readable programinstructions from the network and forwards the computer readable programinstructions for storage in a computer readable storage medium withinthe respective computing/processing device.

Computer readable program instructions for carrying out operations ofthe present invention may be assembler instructions,instruction-set-architecture (ISA) instructions, machine instructions,machine dependent instructions, microcode, firmware instructions,state-setting data, or either source code or object code written in anycombination of one or more programming languages, including an objectoriented programming language such as Java, Smalltalk, C++ or the like,and conventional procedural programming languages, such as the “C”programming language or similar programming languages. The computerreadable program instructions may execute entirely on the user'scomputer, partly on the user's computer, as a stand-alone softwarepackage, partly on the user's computer and partly on a remote computeror entirely on the remote computer or server. In the latter scenario,the remote computer may be connected to the user's computer through anytype of network, including a local area network (LAN) or a wide areanetwork (WAN), or the connection may be made to an external computer(for example, through the Internet using an Internet Service Provider).In some embodiments, electronic circuitry including, for example,programmable logic circuitry, field-programmable gate arrays (FPGA), orprogrammable logic arrays (PLA) may execute the computer readableprogram instructions by utilizing state information of the computerreadable program instructions to personalize the electronic circuitry,in order to perform aspects of the present invention.

Aspects of the present invention are described herein with reference toflowchart illustrations and/or block diagrams of methods, apparatus(systems), and computer program products according to embodiments of theinvention. It will be understood that each block of the flowchartillustrations and/or block diagrams, and combinations of blocks in theflowchart illustrations and/or block diagrams, can be implemented bycomputer readable program instructions.

These computer readable program instructions may be provided to aprocessor of a general purpose computer, special purpose computer, orother programmable data processing apparatus to produce a machine, suchthat the instructions, which execute via the processor of the computeror other programmable data processing apparatus, create means forimplementing the functions/acts specified in the flowchart and/or blockdiagram block or blocks. These computer readable program instructionsmay also be stored in a computer readable storage medium that can directa computer, a programmable data processing apparatus, and/or otherdevices to function in a particular manner, such that the computerreadable storage medium having instructions stored therein comprises anarticle of manufacture including instructions which implement aspects ofthe function/act specified in the flowchart and/or block diagram blockor blocks.

The computer readable program instructions may also be loaded onto acomputer, other programmable data processing apparatus, or other deviceto cause a series of operational steps to be performed on the computer,other programmable apparatus or other device to produce a computerimplemented process, such that the instructions which execute on thecomputer, other programmable apparatus, or other device implement thefunctions/acts specified in the flowchart and/or block diagram block orblocks.

The flowchart and block diagrams in the Figures illustrate thearchitecture, functionality, and operation of possible implementationsof systems, methods, and computer program products according to variousembodiments of the present invention. In this regard, each block in theflowchart or block diagrams may represent a module, segment, or portionof instructions, which comprises one or more executable instructions forimplementing the specified logical function(s). In some alternativeimplementations, the functions noted in the block may occur out of theorder noted in the figures. For example, two blocks shown in successionmay, in fact, be executed substantially concurrently, or the blocks maysometimes be executed in the reverse order, depending upon thefunctionality involved. It will also be noted that each block of theblock diagrams and/or flowchart illustration, and combinations of blocksin the block diagrams and/or flowchart illustration, can be implementedby special purpose hardware-based systems that perform the specifiedfunctions or acts or carry out combinations of special purpose hardwareand computer instructions.

With reference now to the figures, and in particular to FIG. 1, there isdepicted a block diagram of an exemplary system and network that may beutilized by and/or in the implementation of the present invention. Someor all of the exemplary architecture, including both depicted hardwareand software, shown for and within computer 101 may be utilized bysoftware deploying server 149 and/or components in the virtual reality(VR) sphere 151 and/or the VR garment 153 shown in FIG. 1, and/oractuator 206 and/or control units 212 a-212 b shown in FIG. 2 and FIG.4.

Exemplary computer 101 includes a processor 103 that is coupled to asystem bus 105. Processor 103 may utilize one or more processors, eachof which has one or more processor cores. A video adapter 107, whichdrives/supports a display 109 (which in one or more embodiments of thepresent invention is a touch-screen display capable of detecting touchinputs onto the display 109), is also coupled to system bus 105. Systembus 105 is coupled via a bus bridge 111 to an input/output (I/O) bus113. An I/O interface 115 is coupled to I/O bus 113. I/O interface 115affords communication with various I/O devices, including a keyboard117, a mouse 119, a media tray 121 (which may include storage devicessuch as CD-ROM drives, multi-media interfaces, etc.), a camera 123(which in one or more embodiments is a digital camera capable ofcapturing still and/or moving visual images), and external USB port(s)125. While the format of the ports connected to I/O interface 115 may beany known to those skilled in the art of computer architecture, in oneembodiment some or all of these ports are universal serial bus (USB)ports.

As depicted, computer 101 is able to communicate with a softwaredeploying server 149 and/or other devices/systems such as VR sphere 151using a network interface 129. Network interface 129 is a hardwarenetwork interface, such as a network interface card (NIC), etc. Network127 may be an external network such as the Internet, or an internalnetwork such as an Ethernet or a virtual private network (VPN). In oneor more embodiments, network 127 is a wireless network, such as a Wi-Finetwork, a cellular network, etc.

A hard drive interface 131 is also coupled to system bus 105. Hard driveinterface 131 interfaces with a hard drive 133. In one embodiment, harddrive 133 populates a system memory 135, which is also coupled to systembus 105. System memory is defined as a lowest level of volatile memoryin computer 101. This volatile memory includes additional higher levelsof volatile memory (not shown), including, but not limited to, cachememory, registers and buffers. Data that populates system memory 135includes computer 101's operating system (OS) 137 and applicationprograms 143.

OS 137 includes a shell 139, for providing transparent user access toresources such as application programs 143. Generally, shell 139 is aprogram that provides an interpreter and an interface between the userand the operating system. More specifically, shell 139 executes commandsthat are entered into a command line user interface or from a file.Thus, shell 139, also called a command processor, is generally thehighest level of the operating system software hierarchy and serves as acommand interpreter. The shell provides a system prompt, interpretscommands entered by keyboard, mouse, or other user input media, andsends the interpreted command(s) to the appropriate lower levels of theoperating system (e.g., a kernel 141) for processing. While shell 139 isa text-based, line-oriented user interface, the present invention willequally well support other user interface modes, such as graphical,voice, gestural, etc.

As depicted, OS 137 also includes kernel 141, which includes lowerlevels of functionality for OS 137, including providing essentialservices required by other parts of OS 137 and application programs 143,including memory management, process and task management, diskmanagement, and mouse and keyboard management.

Application programs 143 include a renderer, shown in exemplary manneras a browser 145. Browser 145 includes program modules and instructionsenabling a world wide web (WWW) client (i.e., computer 101) to send andreceive network messages to the Internet using hypertext transferprotocol (HTTP) messaging, thus enabling communication with softwaredeploying server 149 and other systems.

Application programs 143 in computer 101's system memory (as well assoftware deploying server 149's system memory) also include a VirtualReality Construct Controller Program (VRCCP) 147. VRCCP 147 includescode for implementing the processes described below, including thosedescribed in FIGS. 2-5. In one embodiment, computer 101 is able todownload VRCCP 147 from software deploying server 149, including in anon-demand basis, wherein the code in VRCCP 147 is not downloaded untilneeded for execution. In one embodiment of the present invention,software deploying server 149 performs all of the functions associatedwith the present invention (including execution of VRCCP 147), thusfreeing computer 101 from having to use its own internal computingresources to execute VRCCP 147.

Computer 101 is able to communicate with a virtual reality (VR) sphere151, such as the VR sphere 251 depicted in FIG. 2, in order to controlmovement of the powered rollers (e.g., powered roller 208) that cause anouter hollow sphere 202 of the VR sphere 151 to rotate on one or moreaxes, as well as the movement of actuators (e.g., actuators 406, 408,410 shown in FIG. 4 to manipulate the shape of the pliable inner hollowsphere 204 in the VR sphere 251).

Computer 101 is also able to communicate with a VR garment 153, which isa garment that is worn by a user to receive tactile, aural, and visualsimulation inputs. That is, VR garment 153 is able to provide tactilesensations via vibrating components, visual sensations via a headsetdisplay, aural sensations via a headset speaker, etc., which provide amultimedia experience, to the user, which simulates a physicalenvironment. VR garment 153 is also able to detect the location andthree-dimensional real-time orientation of the user using a location andpositioning sensor 155. For example, by using a series of electronicsignals being transmitted within the VR sphere 151 and/or a set ofelectronic accelerometers, the location of the user within the VR sphere151 and/or the physical orientation of the user (i.e., the position ofthe user's hands, legs, head, etc.) are determined in real time, thusproviding computer 101 with the information needed to manipulate theflexible shape of the pliable inner hollow sphere 204 within the VRsphere 251.

The hardware elements depicted in computer 101 are not intended to beexhaustive, but rather are representative to highlight essentialcomponents required by the present invention. For instance, computer 101may include alternate memory storage devices such as magnetic cassettes,digital versatile disks (DVDs), Bernoulli cartridges, and the like.These and other variations are intended to be within the spirit andscope of the present invention.

As described in one or more embodiments of the present invention, thepresently presented novel VR sphere has as its base a rounded orhalf-sphere constructed so that it can change according to the VRprogram the person is interested in. For example, assume that the VRprogram is for climbing up a rock-climbing wall or riding downhill on amountain bike. The present invention coordinates 1) the images andsounds being presented to the user via a headset and 2) the movement ofthe VR sphere with 3) a physical texture of the simulated surface (e.g.,rocks, dips, crevices, etc. that would be encountered in a real versionof the simulated surface as the user walks, climbs, bikes, etc.). Thisprovides a unique improvement over the prior art by adding to thevirtual reality immersion a true physical (not virtual) layer, which canmorph to a specific game or task as required.

With reference then to FIG. 2, a cross-sectional side view of a novelvirtual reality (VR) sphere 251 (analogous to VR sphere 151 shown inFIG. 1) in accordance with one or more embodiments of the presentinvention is presented.

VR sphere 251 has an outer hollow sphere 202 that is physicallyconnected to a pliable inner hollow sphere 204 by multiple actuators,including the labeled actuator 206.

Outer hollow sphere 202 is constructed of a rigid material (e.g., metal)that 1) can be rotated through one or more axes (X,Y,Z in the Cartesiancoordinate system) without deforming, breaking, cracking, etc., and 2)can support the actuators and the pliable inner hollow sphere 204without deforming, breaking, cracking, etc.

Outer hollow sphere 202 rotates through one or more axes while beingsupported by rollers such as the depicted non-powered idler roller 220,and while being moved by powered rollers such as the depicted poweredrollers 208 a-208 b. Thus, a control unit 212 a receives instructionsfrom computer 101 shown in FIG. 1 to turn powered roller 208 a, therebycausing the outer hollow sphere 202 (and consequently the mechanicallycoupled pliable inner hollow sphere 204) to rotate. Similarly, a controlunit 212 b receives instructions from computer 101 shown in FIG. 1 toturn powered roller 208 b, thereby also causing the outer hollow sphere202 (and consequently the mechanically coupled pliable inner hollowsphere 204) to rotate. If powered roller 208 a and powered roller 208 bare aligned on different axes, then their rotation will cause the outerhollow sphere 202 to rotate on these different axes.

Pliable inner hollow sphere 204 is constructed of a pliable materialthat has enough ductile strength to handle shape changes and enoughtensile strength to support the weight of a user standing inside thepliable inner hollow sphere 204 (see FIG. 4). Thus, pliable inner hollowsphere 204 may be constructed of flexible rubber, mesh-impregnatedfibers, etc.

Actuators that control the shape of the pliable inner hollow sphere aremechanical devices that selectively extend and shorten. That is, whenactuator 206 receives a signal from a controller (e.g., control unit 212a), an inner rod 216 will selectively be forced out of the actuatorhousing 218 of the actuator 206, or will be pulled back into theactuator housing 218 of the actuator 206. This movement of the inner rod216 may be caused by applying a current to the actuator housing 218,thus creating an electromagnetic field that forces a magnetized innerrod 216 to move in or out of the actuator housing 218, depending on thedirection of the applied current.

Alternatively, actuator 206 may be a pneumatic or hydraulic actuator,which pushes and pulls the inner rod out of and into the actuatorhousing 218 using air (pneumatic) or liquid (hydraulic) pressure.

The movement of the inner rods within the actuators causes the shape ofthe inner surface 214 to change in accordance with instructions to theactuators (e.g., processing logic within actuator 206) received from thecontrolling computer 101 (see FIG. 1) as the VR sphere 251 rotates alongone or more axes (X,Y,Z). That is, as control unit 212 a causes poweredroller 208 a to rotate the outer hollow sphere 202 in a certaindirection, a user walking within the pliable inner hollow sphere 204(see FIG. 4) will encounter (e.g., walk on) different regions of theinner surface 214 of the pliable inner hollow sphere 204. Thesedifferent regions will have their shapes changed to comport with thevirtual image being seen by the user while walking within the pliableinner hollow sphere 204. While only a few actuators are depicted in FIG.2 for purposes of simplicity, it is understood that in practice therewill be numerous actuators (more than 1 actuator per 10 cm square on theinner surface 214), thus providing a high degree of tactile/shaperesolution.

While the VR sphere 251 shown in FIG. 2 is depicted as rotating alongone axis, it is to be understood that VR sphere 251 can rotate invarious axes in accordance with one or more embodiments of the presentinvention. For example, as shown in FIG. 3, VR sphere 251 is able torotate along another axis (e.g., can change its yaw along a second axis)by activating a powered roller 304 found in this other axis. Similarly,other powered rollers (not depicted) in other axes can cause VR sphere251 to rotate through one or more of the other 3-axes.

With reference now to FIG. 4, a cross-sectional side view of the VRsphere shown in FIG. 2 depicts a user inside the VR sphere 251, anddepicts actuators selectively changing a shape of an interior surface ofthe VR sphere in order to simulate irregular surfaces found in aphysical world being simulated by the VR system. Note that the changesto the inner surface 214 themselves are physical, not simulated orvirtual. However, while the user 402 is wearing a VR headset 412, he/shewill see an image (created by wireless signals sent from computer 101under the direction of a VR program) of a physical world (e.g., aclimbing wall). As the VR sphere 251 rotates (under the direction ofinstructions transmitted from the computer 101), the user 402 “climbs”along the inner surface 214. While the user moves along the innersurface 214, the computer 101 coordinates activation of the actuatorsshown in FIG. 4, thus changing the actual (not virtual) geometry of theinner surface 214, which the user may physically touch/grab, thus givingthe real physical sensation of grabbing physical objects (e.g.,handholds on the climbing wall) that correspond with 1) the image beingprojected to the user's eyes by the VR headset 412 and 2) themovement/rotation of the VR sphere 251 (as controlled by control units212 a-212 b to move the rollers that rotate the VR sphere 251).

For example, assume that user 402 is walking inside of the rotating VRsphere 251. Assume further that the VR program being run by computer 101simulates walking over rocky terrain. As such, when the user walkedacross the inner surface 214 of the pliable inner hollow sphere 204 thatis in contact with actuator 406, the inner surface 214 would bedepressed, since actuator 406 is retracted. However, when user 402reaches that area on the inner surface 214 that is in contact withactuator 408, the inner surface 214 rises somewhat, since the actuator408 is partially extended. Furthermore, when user 402 reaches that areaon the inner surface 214 that is in contact with actuator 410, the innersurface 214 rises even more, since the actuator 408 is fully extended.

Thus, as depicted in FIGS. 2-4, in one or more embodiments of thepresent invention a tactile device (e.g., VR sphere 251) for virtualreality simulations includes an outer hollow sphere (e.g., outer hollowsphere 202), a pliable inner hollow sphere (e.g., pliable inner hollowsphere 204), a plurality of actuators (e.g., actuators 406, 408, 410 andother unlabeled actuators depicted in FIG. 4), and a framework (e.g.,framework 210 shown in FIG. 2) that has multiple rollers, both poweredrollers (e.g., powered rollers 208 a-208 b shown in FIG. 2) for rotatingthe VR sphere as well as unpowered idler rollers (e.g., idler roller220) for supporting the VR sphere.

As described herein, the plurality of actuators physically couple theouter hollow sphere to the pliable inner hollow sphere, and areconfigured to dynamically and physically reshape the pliable innerhollow sphere as the outer hollow sphere and the pliable inner hollowsphere rotate.

As described herein, the plurality of powered rollers also support theouter hollow sphere, and control a rotational speed and direction of theouter hollow sphere and the pliable inner hollow sphere.

As depicted in exemplary FIG. 4, in one or more embodiments of thepresent invention the plurality of actuators press against the pliableinner hollow sphere to create different shapes within the pliable innerhollow sphere that are encountered as a user moves within the pliableinner hollow sphere while the pliable inner hollow sphere rotates.

As described herein and in one or more embodiments of the presentinvention, an inner surface (e.g., inner surface 214) of the pliableinner hollow sphere is covered by a soft rubbery material, thus givingbetter tactile grip/sensation to the user.

In one or more embodiments of the present invention, the pliable innerhollow sphere has an inner diameter of at least one meter, such that asmall child may stand up inside of the VR sphere.

In one or more embodiments of the present invention, the pliable innerhollow sphere has an inner diameter of at least two meters, such that agrown adult may stand up inside of the VR sphere.

As described herein and in one or more embodiments of the presentinvention, the plurality of actuators are electromechanical actuators.

As described herein and in one or more embodiments of the presentinvention, the plurality of actuators are pneumatic actuators.

As described herein and in one or more embodiments of the presentinvention, a camera 423 (analogous to camera 123 shown in FIG. 1) iscapable of capturing movement images of user 402 as user 402 moves inresponse to the VR sphere 251 rotating and/or images being received viaVR headset 412.

As described herein and in one or more embodiments of the presentinvention, pressure sensors 414 within or next to the inner surface 214are able to detect the level of pressure exerted by the hands and/orfeet and/or other body parts of user 402, in order to further determinewhat types of physical reactions/movements are exerted by user 402 inresponse to the VR sphere 251 rotating and/or images being received viaVR headset 412.

With reference now to FIG. 5, a high-level flow-chart of one or moresteps performed by one or more processors and other hardware devices(including but not limited to the actuators depicted in FIG. 4) todetect biomechanical abnormalities of a user by modifying a physicalshape of an interior of the VR sphere is presented.

After initiator block 501, one or more processors (e.g., from computer101) transmit instructions to a plurality of powered rollers (e.g.,powered rollers 208 a-208 b shown in FIG. 2), as described in block 503.As shown in the figures, the plurality of powered rollers support anouter hollow sphere (e.g., outer hollow sphere 202) that is physicallycoupled to a pliable inner hollow sphere (e.g., pliable inner hollowsphere 204) by a plurality of actuators (e.g., actuators 406, 408, 410).As shown in FIG. 4 the pliable inner hollow sphere is occupied by auser, and the instructions to the plurality of powered rollers control arotational speed and direction of the outer hollow sphere and thepliable inner hollow sphere.

As described in block 505, the processor(s) transmit instructions to theplurality of actuators that cause the plurality of actuators todynamically reshape the pliable inner hollow sphere as the pliable innerhollow sphere rotates.

As described in block 507, a computer (e.g., a sphere controller such ascomputer 101 shown in FIG. 4) transmits, to a virtual reality (VR)headset (e.g., VR headset 412) worn by a user (e.g., user 402) withinthe pliable inner hollow sphere, virtual images of a virtual environmentto the user. For example, the images displayed on the VR headset may beof a climbing wall, a sidewalk, an obstacle course, etc.

As described in block 509, a computer receives, from a camera (e.g.,camera 423), visual images of the user as the user physically moveswithin the pliable inner hollow sphere as the outer hollow sphere andthe pliable inner hollow sphere rotate, as well as sensor readings froma set of pressure sensors (e.g., pressure sensors 414) that detectpressure applied by the user against the pliable inner hollow sphere asthe user physically moves within the pliable inner hollow sphere as theouter hollow sphere and the pliable inner hollow sphere rotate (seeblock 511 in FIG. 5).

One or more processors (e.g., within computer 101) then determine abiomechanical abnormality in the user based on images from the cameraand pressure readings from the pressure sensors as the user responds tothe virtual images of the virtual environment and movement of thepliable inner hollow sphere as the outer hollow sphere and the pliableinner hollow sphere rotate, as described in block 513 in FIG. 5. Thatis, if the user stumbles, limps, etc. in a manner that indicates abiomechanical abnormality (e.g., a medical condition, improper movementdue to poor training, etc.), then the system will recognize thisbiomechanical abnormality.

As described in block 515, a sphere controller (e.g., computer 101 asshown in FIG. 4) will then modify a physical configuration of thepliable inner hollow sphere based on the biomechanical abnormality inthe user. For example, if the user is favoring a certain side of his/herbody, then the physical configuration of the pliable inner hollow spherewill be modified such that the user must exert more effort on that sideof his/her body, in order to build up strength in that part of theuser's body.

The flowchart ends at terminator block 517.

Thus, the device and/or method and/or computer program product presentedherein improves on the prior art by giving the user an enhanced VRexperience. That is, rather than simply seeing a simulated environment,with small physical sensations (e.g., as provided by vibrating orcontracting components of a VR bodysuit or VR gloves), the presentinvention allows the user to physically feel dynamically changing shapesthat are created as the VR sphere (within which the user is traversing)rotates.

As described herein and in one or more embodiments of the presentinvention, the plurality of actuators press against the pliable innerhollow sphere to create different shapes within the pliable inner hollowsphere that are encountered as the user moves within the pliable innerhollow sphere while the pliable inner hollow sphere rotates.

With the construct and the use of a virtual reality headset, the presentinvention thus allows users to be able to immerse themselves in anexperience such as hiking a steep mountain path, with twist and turns,uneven footing and walk along, twisting and turning with the footpath,climbing up and down as the foot path moves along the elevations of theterrain. The control units and the rollers control the direction of rollinside the sphere, thus ensuring that the user experience includesdirectional changes (which is impossible with a treadmill).

While described herein in the context of recreation/gaming, the presentinvention is also useful to subject matter experts (SMEs) when examiningsimulated subject matters. For example, assume that the SME is ageological engineer, and that the VR program has data describing theshape of rocks and/or ore found well below the surface of the earth(e.g., where the SME cannot physically go). The present system may beconfigured to change the inner surface of the VR sphere (inside of whichthe SME is standing), such that the SME (wearing a VR headset) is ableto see a simulated image of the rocks/ore while simultaneouslyphysically tactilely “feeling” these rocks/ore by touching the changingsurface of the inner portion of the VR sphere (which is reshaped tomirror the shape of the rocks/ore).

The present invention provides many advantages over the prior art whenused in various embodiments. That is, while described in the figures asa tool for exercising and training, the present invention may also beused for any active training required for a job, such as militarytraining, marching band practice, etc., limited only by the instructionsfound in the VR program that is controlling the VR sphere.

Thus, and described herein and in one or more embodiments, the presentinvention utilizes cameras (e.g., camera 423 shown in FIG. 4) andsensors (e.g., pressure sensors 414 shown in FIG. 4) that are embeddedin a physical virtual reality construct (e.g., VR sphere 251 along withcomputer 101 supporting VR headset 412 shown in FIG. 4) to detectmusculoskeletal imbalances. The interpretation of the generatedinformation gives medical and fitness professionals, as well asindividuals, an extra tool to help diagnose imbalances. Based on theseinterpretations and/or diagnoses, the VR sphere 251 can be furthermodified in order to facilitate a rehabilitation plan for user 402 or toprevent an injury to user 402 from occurring in the first place by earlydetection of imbalances.

In today's sedentary lifestyle, where sustained postures like sitting ata desk and driving are the norm, injuries that originate in simpleunchecked musculoskeletal imbalances are on the rise.

Physiotherapy and similar interventions are conventionally used toaddress existing issues, not as a preventative measure. Thus, one ormore embodiments of the present invention provides a virtual realityconstruct (e.g., VR sphere 251) that has embedded cameras (e.g., camera423) and sensors (e.g., pressure sensors 414) that move. These camerasand sensors capture information about the person (e.g., user 402) in thevirtual reality construct (also referred to herein as a “construct”, andexemplified as VR sphere 251).

One or more embodiments of the present invention utilize geometricinterpretation data in a multi-dimensional capacity in a virtual realityconstruct. The interpretation of the information may allow earlydiagnosis of a medical condition and provide simplified targetedremediation. The present invention may be incorporated into a standardheath/well-being check.

For example, individuals can use the virtual reality construct to engagein a physical training program before undertaking a new challenge likemarathon training. Similarly, in order to maintain body agility, whereweaknesses put pressure on other parts of body and result in impactingmobility, the presently-described virtual reality construct can bemodified to train certain parts of the person's body. Similarly, thevirtual reality construct can be used to train the person's body whenundergoing physiological changes that result from surgery, major weightloss, growth spurts, injury, etc.

As described herein, the present invention presents a virtual realityconstruct where the subtleties associated with muscle imbalances and/orother physiological/biomechanical abnormalities are easily andaccurately measured and then ameliorated by the virtual realityconstruct. The multidimensional construct engages the user in animmersive range of test movements, thus allowing the construct tomeasure and adapt to a full range of the user's reactions to themovement of the VR sphere 251 as indicated by the user's muscularstrain, weight distribution, balance, range of motion, etc. Once thebiomechanical issue is identified, the construct (e.g., VR sphere 251)can engage the user in a targeted re-balancing program.

Thus, the present invention is non-invasive, since no biomedical sensors(e.g., electromyography—EMG sensors) are required to identifybiomechanical problems of the user.

Furthermore, the presently-described physical three dimensional device(e.g., VR sphere 251) measures subtleties associated with detection andremediation based on all axes of movement of the user.

Further, the present invention provides a user with targeted feedbackbased on his/her own progress in negotiating movement across the innersurface 214 of the VR sphere 251.

The construct may be equipped with cameras, sensors and pressure pads asdescribed herein. It may simulate range of activities such as, sitting,rock climbing, running, walking.

In an embodiment of the present invention, VR headset 412 providesvisuals to instruct the user 402 in a prescribed sequence of movementsor enhances the physical simulation with visual feeds that challengephysical reactions. For example, the images projected in the VR headset412 to the user 402 may prompt the user to stand on one leg, stand onone leg on a raised object, etc.

In an embodiment of the present invention, the user is recorded engagingin these activities for future examination.

One or more embodiments of the present invention utilize imagerecognition to detect biomechanical abnormalities in the user, such asimbalances, stumbling, etc. For example, excessive movement of the hipswhile running may indicate lack of strength in some muscle groups. Ahead rotation in an upper stretch may indicate back restriction. Assuch, the user will be directed (e.g., from instructions provided by theVR headset 412) to perform activities that strengthen muscles, thustraining the user's body to correct the detected imbalances. Forexample, if the user's imbalances/abnormalities are caused by poor upperbody strength, the computer 101 may send the VR headset 412 an image ofa rock climbing wall and may also adjust the configuration and movementof the inner surface 214 to physically emulate such a wall, thusbuilding up the user's upper body strength.

The user may be recorded doing these activities and with the help ofimage detection software, anomalies (i.e., incorrect motion/movement,not activating the correct muscles) can be detected and remedial action,with the help of a medical professional, can be taken.

Thus, as described herein data from the sensors (e.g., captured visualimages from camera 423 and/or captured pressure readings from pressuresensors 414) combined with a cognitive computer (e.g., computer 101)create, based on an understanding of the human body, a tentativediagnosis of a biomechanical anomaly (i.e., a physiological disease,weakness, etc. of the user 402). The computer 101 then modifies theconfiguration of the VR sphere 251 in order to induce certain remedialactions (e.g., new challenges to certain muscle groups of user 402).

The present invention may be implemented in one or more embodimentsusing cloud computing. Nonetheless, it is understood in advance thatalthough this disclosure includes a detailed description on cloudcomputing, implementation of the teachings recited herein are notlimited to a cloud computing environment. Rather, embodiments of thepresent invention are capable of being implemented in conjunction withany other type of computing environment now known or later developed.

Cloud computing is a model of service delivery for enabling convenient,on-demand network access to a shared pool of configurable computingresources (e.g. networks, network bandwidth, servers, processing,memory, storage, applications, virtual machines, and services) that canbe rapidly provisioned and released with minimal management effort orinteraction with a provider of the service. This cloud model may includeat least five characteristics, at least three service models, and atleast four deployment models.

Characteristics are as follows:

On-demand self-service: a cloud consumer can unilaterally provisioncomputing capabilities, such as server time and network storage, asneeded automatically without requiring human interaction with theservice's provider.

Broad network access: capabilities are available over a network andaccessed through standard mechanisms that promote use by heterogeneousthin or thick client platforms (e.g., mobile phones, laptops, and PDAs).

Resource pooling: the provider's computing resources are pooled to servemultiple consumers using a multi-tenant model, with different physicaland virtual resources dynamically assigned and reassigned according todemand. There is a sense of location independence in that the consumergenerally has no control or knowledge over the exact location of theprovided resources but may be able to specify location at a higher levelof abstraction (e.g., country, state, or datacenter).

Rapid elasticity: capabilities can be rapidly and elasticallyprovisioned, in some cases automatically, to quickly scale out andrapidly released to quickly scale in. To the consumer, the capabilitiesavailable for provisioning often appear to be unlimited and can bepurchased in any quantity at any time.

Measured service: cloud systems automatically control and optimizeresource use by leveraging a metering capability at some level ofabstraction appropriate to the type of service (e.g., storage,processing, bandwidth, and active user accounts). Resource usage can bemonitored, controlled, and reported providing transparency for both theprovider and consumer of the utilized service.

Software as a Service (SaaS): the capability provided to the consumer isto use the provider's applications running on a cloud infrastructure.The applications are accessible from various client devices through athin client interface such as a web browser (e.g., web-based e-mail).The consumer does not manage or control the underlying cloudinfrastructure including network, servers, operating systems, storage,or even individual application capabilities, with the possible exceptionof limited user-specific application configuration settings.

Platform as a Service (PaaS): the capability provided to the consumer isto deploy onto the cloud infrastructure consumer-created or acquiredapplications created using programming languages and tools supported bythe provider. The consumer does not manage or control the underlyingcloud infrastructure including networks, servers, operating systems, orstorage, but has control over the deployed applications and possiblyapplication hosting environment configurations.

Infrastructure as a Service (IaaS): the capability provided to theconsumer is to provision processing, storage, networks, and otherfundamental computing resources where the consumer is able to deploy andrun arbitrary software, which can include operating systems andapplications. The consumer does not manage or control the underlyingcloud infrastructure but has control over operating systems, storage,deployed applications, and possibly limited control of select networkingcomponents (e.g., host firewalls).

Deployment Models are as follows:

Private cloud: the cloud infrastructure is operated solely for anorganization. It may be managed by the organization or a third party andmay exist on-premises or off-premises.

Community cloud: the cloud infrastructure is shared by severalorganizations and supports a specific community that has shared concerns(e.g., mission, security requirements, policy, and complianceconsiderations). It may be managed by the organizations or a third partyand may exist on-premises or off-premises.

Public cloud: the cloud infrastructure is made available to the generalpublic or a large industry group and is owned by an organization sellingcloud services.

Hybrid cloud: the cloud infrastructure is a composition of two or moreclouds (private, community, or public) that remain unique entities butare bound together by standardized or proprietary technology thatenables data and application portability (e.g., cloud bursting forload-balancing between clouds).

A cloud computing environment is service oriented with a focus onstatelessness, low coupling, modularity, and semantic interoperability.At the heart of cloud computing is an infrastructure comprising anetwork of interconnected nodes.

Referring now to FIG. 6, illustrative cloud computing environment 50 isdepicted. As shown, cloud computing environment 50 comprises one or morecloud computing nodes 10 with which local computing devices used bycloud consumers, such as, for example, personal digital assistant (PDA)or cellular telephone 54A, desktop computer 54B, laptop computer 54C,and/or automobile computer system 54N may communicate. Nodes 10 maycommunicate with one another. They may be grouped (not shown) physicallyor virtually, in one or more networks, such as Private, Community,Public, or Hybrid clouds as described hereinabove, or a combinationthereof. This allows cloud computing environment 50 to offerinfrastructure, platforms and/or software as services for which a cloudconsumer does not need to maintain resources on a local computingdevice. It is understood that the types of computing devices 54A-54Nshown in FIG. 6 are intended to be illustrative only and that computingnodes 10 and cloud computing environment 50 can communicate with anytype of computerized device over any type of network and/or networkaddressable connection (e.g., using a web browser).

Referring now to FIG. 7, a set of functional abstraction layers providedby cloud computing environment 50 (FIG. 6) is shown. It should beunderstood in advance that the components, layers, and functions shownin FIG. 7 are intended to be illustrative only and embodiments of theinvention are not limited thereto. As depicted, the following layers andcorresponding functions are provided:

Hardware and software layer 60 includes hardware and softwarecomponents. Examples of hardware components include: mainframes 61; RISC(Reduced Instruction Set Computer) architecture based servers 62;servers 63; blade servers 64; storage devices 65; and networks andnetworking components 66. In some embodiments, software componentsinclude network application server software 67 and database software 68.

Virtualization layer 70 provides an abstraction layer from which thefollowing examples of virtual entities may be provided: virtual servers71; virtual storage 72; virtual networks 73, including virtual privatenetworks; virtual applications and operating systems 74; and virtualclients 75.

In one example, management layer 80 may provide the functions describedbelow. Resource provisioning 81 provides dynamic procurement ofcomputing resources and other resources that are utilized to performtasks within the cloud computing environment. Metering and Pricing 82provide cost tracking as resources are utilized within the cloudcomputing environment, and billing or invoicing for consumption of theseresources. In one example, these resources may comprise applicationsoftware licenses. Security provides identity verification for cloudconsumers and tasks, as well as protection for data and other resources.User portal 83 provides access to the cloud computing environment forconsumers and system administrators. Service level management 84provides cloud computing resource allocation and management such thatrequired service levels are met. Service Level Agreement (SLA) planningand fulfillment 85 provide pre-arrangement for, and procurement of,cloud computing resources for which a future requirement is anticipatedin accordance with an SLA.

Workloads layer 90 provides examples of functionality for which thecloud computing environment may be utilized. Examples of workloads andfunctions which may be provided from this layer include: mapping andnavigation 91; software development and lifecycle management 92; virtualclassroom education delivery 93; data analytics processing 94;transaction processing 95; and virtual reality processing 96, whichperforms one or more functions described for the present invention.

The terminology used herein is for the purpose of describing particularembodiments only and is not intended to be limiting of the presentinvention. As used herein, the singular forms “a”, “an” and “the” areintended to include the plural forms as well, unless the context clearlyindicates otherwise. It will be further understood that the terms“comprises” and/or “comprising,” when used in this specification,specify the presence of stated features, integers, steps, operations,elements, and/or components, but do not preclude the presence oraddition of one or more other features, integers, steps, operations,elements, components, and/or groups thereof.

The corresponding structures, materials, acts, and equivalents of allmeans or step plus function elements in the claims below are intended toinclude any structure, material, or act for performing the function incombination with other claimed elements as specifically claimed. Thedescription of various embodiments of the present invention has beenpresented for purposes of illustration and description, but is notintended to be exhaustive or limited to the present invention in theform disclosed. Many modifications and variations will be apparent tothose of ordinary skill in the art without departing from the scope andspirit of the present invention. The embodiment was chosen and describedin order to best explain the principles of the present invention and thepractical application, and to enable others of ordinary skill in the artto understand the present invention for various embodiments with variousmodifications as are suited to the particular use contemplated.

Any methods described in the present disclosure may be implementedthrough the use of a VHDL (VHSIC Hardware Description Language) programand a VHDL chip. VHDL is an exemplary design-entry language for FieldProgrammable Gate Arrays (FPGAs), Application Specific IntegratedCircuits (ASICs), and other similar electronic devices. Thus, anysoftware-implemented method described herein may be emulated by ahardware-based VHDL program, which is then applied to a VHDL chip, suchas a FPGA.

Having thus described embodiments of the present invention of thepresent application in detail and by reference to illustrativeembodiments thereof, it will be apparent that modifications andvariations are possible without departing from the scope of the presentinvention defined in the appended claims.

What is claimed is:
 1. A tactile device for correcting biomechanicalabnormalities using physical virtual reality simulations, the tactiledevice comprising: an outer hollow sphere; a pliable inner hollowsphere; a plurality of actuators, wherein the plurality of actuatorsphysically couple the outer hollow sphere to the pliable inner hollowsphere, and wherein the plurality of actuators are configured todynamically and physically reshape the pliable inner hollow sphere asthe outer hollow sphere and the pliable inner hollow sphere rotate; aframework comprising a plurality of powered rollers, wherein theplurality of powered rollers: support the outer hollow sphere, andcontrol a rotational speed and direction of the outer hollow sphere andthe pliable inner hollow sphere; a set of pressure sensors that detectpressure applied by a user against the pliable inner hollow sphere asthe user moves within the pliable inner hollow sphere as the outerhollow sphere and the pliable inner hollow sphere rotate; one or moreprocessors that determine a biomechanical abnormality in the user basedon pressure readings from the pressure sensors as the user responds tomovement of the pliable inner hollow sphere as the outer hollow sphereand the pliable inner hollow sphere rotate; and a sphere controller thatmodifies a physical configuration of the pliable inner hollow sphere inorder to treat the biomechanical abnormality in the user.
 2. The tactiledevice of claim 1, wherein the plurality of actuators press against thepliable inner hollow sphere to create different shapes within thepliable inner hollow sphere that are encountered as a user moves withinthe pliable inner hollow sphere while the pliable inner hollow sphererotates.
 3. The tactile device of claim 1, where an inner surface of thepliable inner hollow sphere is covered by a soft rubbery material. 4.The tactile device of claim 1, wherein the pliable inner hollow spherehas an inner diameter of at least one meter.
 5. The tactile device ofclaim 1, wherein the plurality of actuators are electromechanicalactuators.
 6. The tactile device of claim 1, wherein the plurality ofactuators are pneumatic actuators.
 7. The tactile device of claim 1,wherein the tactile device is coupled to a computer that controls theplurality of actuators and the powered rollers.
 8. A tactile device forcorrecting biomechanical abnormalities using physical virtual realitysimulations, the tactile device comprising: an outer hollow sphere; apliable inner hollow sphere; a plurality of actuators, wherein theplurality of actuators physically couple the outer hollow sphere to thepliable inner hollow sphere, and wherein the plurality of actuators areconfigured to dynamically and physically reshape the pliable innerhollow sphere as the outer hollow sphere and the pliable inner hollowsphere rotate; a framework comprising a plurality of powered rollers,wherein the plurality of powered rollers: support the outer hollowsphere, and control a rotational speed and direction of the outer hollowsphere and the pliable inner hollow sphere; a camera for capturingvisual images of the user as the user moves within the pliable innerhollow sphere as the outer hollow sphere and the pliable inner hollowsphere rotate; one or more processors that determine a biomechanicalabnormality in the user based on images from the camera as the userresponds to the movement of the pliable inner hollow sphere as the outerhollow sphere and the pliable inner hollow sphere rotate; and a spherecontroller that modifies a physical configuration of the pliable innerhollow sphere in order to treat the biomechanical abnormality in theuser.
 9. The tactile device of claim 8, wherein the plurality ofactuators press against the pliable inner hollow sphere to createdifferent shapes within the pliable inner hollow sphere that areencountered as a user moves within the pliable inner hollow sphere whilethe pliable inner hollow sphere rotates.
 10. The tactile device of claim8, where an inner surface of the pliable inner hollow sphere is coveredby a soft rubbery material.
 11. The tactile device of claim 8, whereinthe pliable inner hollow sphere has an inner diameter of at least onemeter.
 12. The tactile device of claim 8, wherein the plurality ofactuators are electromechanical actuators.
 13. The tactile device ofclaim 8, wherein the plurality of actuators are pneumatic actuators. 14.The tactile device of claim 8, wherein the tactile device is coupled toa computer that controls the plurality of actuators and the poweredrollers.
 15. A computer-implemented method comprising: transmitting, byone or more processors, instructions to a plurality of powered rollers,wherein the plurality of powered rollers support an outer hollow spherethat is physically coupled to a pliable inner hollow sphere by aplurality of actuators, wherein the pliable inner hollow sphere isoccupied by a user, and wherein the instructions to the plurality ofpowered rollers control a rotational speed and direction of the outerhollow sphere and the pliable inner hollow sphere; transmitting, by oneor more processors, instructions to the plurality of actuators, whereinthe instructions to the plurality of actuators cause the plurality ofactuators to dynamically and physically reshape the pliable inner hollowsphere as the pliable inner hollow sphere rotates; receiving, from acamera, visual images of the user as the user moves within the pliableinner hollow sphere as the outer hollow sphere and the pliable innerhollow sphere rotate; receiving, from a set of pressure sensors, sensorreadings that detect pressure applied by the user against the pliableinner hollow sphere as the user moves within the pliable inner hollowsphere as the outer hollow sphere and the pliable inner hollow sphererotate; determining, by one or more processors, a biomechanicalabnormality in the user based on images from the camera and pressurereadings from the pressure sensors as the user responds to movement ofthe pliable inner hollow sphere as the outer hollow sphere and thepliable inner hollow sphere rotate; and modifying, by a spherecontroller, a physical configuration of the pliable inner hollow spherein order to treat the biomechanical abnormality in the user.
 16. Thecomputer-implemented method of claim 15, wherein the plurality ofactuators press against the pliable inner hollow sphere to createdifferent shapes within the pliable inner hollow sphere that areencountered as the user moves within the pliable inner hollow spherewhile the pliable inner hollow sphere rotates.
 17. Thecomputer-implemented method of claim 15, where an inner surface of thepliable inner hollow sphere is covered by a soft rubbery material. 18.The computer-implemented method of claim 15, wherein the pliable innerhollow sphere has an inner diameter of at least one meter.
 19. Thecomputer-implemented method of claim 15, wherein the plurality ofactuators are electromechanical actuators.
 20. The computer-implementedmethod of claim 15, wherein the plurality of actuators are pneumaticactuators.